• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
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  • 优先权
    • 专利摘要:
    A method for transmitting commands and a video stream between a remotely controlled machine (1) such as a drone and a ground station (5) is characterized in that it implements a bidirectional link putting at least in part, implementing a cellular telephone communication network (3), said bidirectional link being provided by means of a cell-side cellular modem and carrying a compressed video stream generated by a camera and video encoding means, and at least one one of pilot or mission commands (9) and flight data or piloting characteristics of the remote-controlled machine.
    公开号:FR3033470A1
    申请号:FR1551755
    申请日:2015-03-02
    公开日:2016-09-09
    发明作者:Clement Christomanos
    申请人:Clement Christomanos；
    IPC主号:
    专利说明:

    [0001] FIELD OF THE INVENTION The present invention relates to a method for transmitting control commands and video streams between a drone, that is to say a remotely piloted or autonomous aircraft, and a ground operator, this method transmission system using a mobile telephone network connection and more particularly mobile internet connectivity technologies. Specific examples of mobile Internet communication networks are commercial networks using technologies commonly referred to as 2G, 3G, 3G +, H +, 4G, LTE, LTE-Advanced, 5G, WiMAX, SigFox (registered trademarks) or others. The present invention also relates to a device implementing said method on a drone. The present invention can be worn on any type of drone. Among the types of drones currently existing, there can be mentioned rotary wing drones such as helicopters, quadcopters and the like. We can also mention fixed-wing drones, powered by one or more thermal or electric engines.
    [0002] More particularly, the present invention relates to the technical field of transmission between a drone and its operator. The drones are remote controlled, that is to say that there is a remote connection between the operator and the drone. The operator can send pilot commands to the drone, for example concerning the geographical position of the drone or the remote operation of embedded systems. A link in the return direction also exists, to allow on the one hand the drone to transmit information related to the flight or the mission (altitude, speed, geographical position ...) and on the other hand to allow the drone d send to the operator a video stream, which is derived from an on-board camera. This video flow is essential for the control of the machine or the accomplishment of missions, for example for a surveillance mission. The video stream allows a so-called "immersive" piloting: the operator, instead of piloting the drone while looking at it, uses the video link to pilot it, as if he were aboard the drone. STATE OF THE ART There are several techniques in the current state of the art for transmitting control commands to the drone, and allowing the drone to transmit to its operator an information flow as well as a video stream. Among these techniques, the most widespread is the use of radio-type links, a technique particularly used in model aircraft. Both the operator and the drone have a radio transmission / reception system. A specific protocol allows the coding, decoding and transmission of data or video. The use of this technique, however, has significant disadvantages. First, the use of the radio frequency spectrum is subject to the regulation of local or state authorities. Thus, the system can transmit only on frequency bands for which authorization has been obtained, or on frequency bands left free for use by the public. Secondly, the transmission of radio waves in free space has intrinsic limits, related to physics. The natural attenuation of radio waves as well as the presence of obstacles (multipath phenomena) reduces the quality of transmission to a distance at which the link is unusable. This distance is generally referred to as the range of use of the link. Currently, radio links for drones allow maximum operating ranges of the order of 60 km, this data being highly variable depending on the topography of the terrain or atmospheric conditions. Another commonly used technique is the satellite type radio link. A satellite in orbit around the Earth is used as a transmission relay between the drone and its operator. This technique allows much greater scope of use but the transmission and reception systems can be cumbersome, expensive and complex to use, especially given the problems caused by latency, that is to say the time of use. information path. Another technique uses a Wi-Fi (registered trademark) LAN or Bluetooth (registered trademark) link. A Wi-Fi network makes it possible to wirelessly connect several computing devices within a network in order to allow the transmission of data between them. Such networks are implementations of IEEE 802.11 standards. Such a link can be used to allow bidirectional communication between the drone and its operator. These techniques have very limited ranges of use, of the order of 100m for Wi-Fi. A typical example of a drone using Wi-Fi or Bluetooth telecommunications techniques is the AR.Drone of Parrot SA , Paris, France (registered trademarks). European patent application EP 2,450,862 A1 discloses a "method of transmitting commands and a video stream between a drone and a remote control via a wireless network link" using Wi-Fi or Bluetooth techniques. SUMMARY OF THE INVENTION The current state of the art therefore does not propose a technique that makes it possible to control a drone over distances of several hundred kilometers efficiently and economically. The present invention proposes to solve this problem by allowing the piloting of a drone and the transmission of a video stream over potentially unlimited distances, within the limit of the geographical coverage in a mobile network. Thus, according to a first aspect, a method for transmitting commands and a video stream between a remotely-controlled vehicle such as a drone and a ground station is proposed, characterized in that it implements a bidirectional link at least partially implementing a cellular telephone communication network, said bidirectional link being provided by means of a cell-side cellular modem and conveying a compressed video stream generated by a camera and video encoding means, and at least the a 10 among pilot or mission orders and flight data or characteristics of the piloting of the remote-controlled machine. Some preferred but nonlimiting aspects of this method are as follows: the machine and the ground station communicate on the bidirectional link via an Internet protocol. An adaptation of the bit rate of the compressed video stream is obtained by modulating the compression ratio of the video stream captured by the camera. said adaptation is carried out by forcing, in the case where a reliable measurement of the available bandwidth margin is impossible, an increase in the bit rate of the compressed video stream or an increase in the definition of the compressed video stream, this forced increase being repeated at regular time intervals, so as to bring a set of encoding parameters just below the level at which the transmission of the video stream having these parameters would cause a congestion phenomenon. * said adaptation is performed while reserving a portion of the bandwidth available 25, which portion is incompressible and reserved for the routing of critical information such as flight data or characteristics of the pilot of the remote-controlled machine or to the routing of critical information such as pilot or mission orders. the method further comprises a transmission, in the descending part (machine towards station) of the bidirectional link, of flight data or characteristics of the piloting of the remote-controlled machine with constant bit rate. * The orders of mission or control are emitted at constant intervals of time and on action of the operator who decides a change of the parameters of the mission whose execution is in progress, these parameters being able to concern at least one among the geographical position of the remote-controlled machine, its speed, its destination, its characteristic angles of yaw, pitch and roll, its course, the use of a specific sensor or actuator such as the orientation of a camera. 5 * the video stream is received by the station and decoded via an interface, which is constituted by a web page accessed by the operator in an internet browser, page for controlling the remote-controlled machine and the display of parameters specific to its operation such as, without limitation, its geographical position, its speed, its destination, its characteristic angles, or other information from on-board sensors. sensors are embedded in the remote-controlled machine in order to carry out various missions such as, by way of non-limiting example, imaging missions in visible or infrared fields, mapping missions in two or three dimensions or various readings of parameters from sensors on board. This method is characterized in that the connectivity of the remote-controlled machine to the Internet network enables it to store this data on a remote server or to provide them in real-time to the operator via an interface . According to a second aspect of the invention, a set of a remote-controlled machine such as a drone and a ground station is proposed, characterized in that it comprises means for implementing the method such as defined above and means for transmitting control packets and / or statistics and for the purpose of analyzing the quality of the bidirectional link in at least one of its directions or in both directions simultaneously, so as to to modulate the video encoding parameters in the direction of reducing the bit rate of the compressed video stream or reducing the definition of the compressed video stream when it is detected that the bandwidth available on the link does not allow not routing information flows without congestion, packet loss or excessive latency phenomena, and in the sense of increasing the bit rate of the compressed video stream or an increase in the definition of the video stream eo compressed when the available bandwidth is not fully used and the increase in the definition of the compressed video stream is likely to represent an improvement in the user experience. BRIEF DESCRIPTION OF THE DRAWINGS We will now describe the implementation of the device of the invention, with reference to the accompanying drawings in which the same reference numerals designate, from one figure to another, identical or functionally similar elements. In the drawings: FIG. 1 illustrates the overall architecture of the invention; FIG. 2 illustrates the main data exchanges between a vehicle and a ground station in this architecture; FIG. 3 illustrates these same exchanges in connection with block diagrams of the main elements of the electronics of the machine and the electronics of the ground station, and - Figure 4 schematically illustrates the elements used in the determination of the parameters of a station. video encoding performed at the level of the machine. DETAILED DESCRIPTION OF AN EMBODIMENT The device according to the present invention comprises, according to the diagram presented in FIG. 1, two large systems, the first one being on board the drone 1, the second being the station 5 of the ground operator, it may take any form such as a computer, portable or not, a mobile terminal or any other system capable of performing the interface. The two systems are connected by means of the Internet network 4, with the notable feature that the embedded system on the drone uses, to obtain Internet connectivity, commercial mobile telecommunications networks 3 using technologies commonly called 2G, 3G, 3G +, H + , 4G, LTE, LTE-Advanced, 5G, WiMAX or others. The ground system allowing the operation of the drone (5 may be connected to the Internet network 4 by various means, whether it is a conventional Internet connection, the telephone network, a wireless type network, or by the aforementioned mobile telecommunications networks Figure 2 shows the different streams transmitted via the Internet network 4 between the UAV 1 and the operator's station 5. One of the technical aspects to be taken account is the great variability of the capacity of the channel linking the two systems: the drone is mobile and connected to the Internet by the mobile telecommunication networks, so it is possible that during its flight the The access points are shared by several users of the network and the total capacity is therefore shared between the users, thus, depending on the different loads used by the user. access points to the mobile telecommunications network, and according to the path calculated on the Internet 4 for the routing of data and the load of users of the different equipment crossed on this path, the capacity of the network to transit the information, more commonly known as available bandwidth, is very highly variable. In addition, depending on the technologies used at the mobile network access point, whether 2G, 3G, 3G +, H +, 4G, LTE, LTE-Advanced, 5G, WiMAX or others, Available upstream and downstream flows can be significantly different.
    [0003] In order to guarantee the routing of the information through this channel on the network, it is necessary to respect the limit imposed by the available bandwidth. Indeed, if the sending of data is carried out at a rate higher than the capacity of the channel, it appears a phenomenon of congestion: the network can not transmit the information instantaneously and is thus forced to store it temporarily in order to retransmit after a short interval of time. This phenomenon therefore slows the progress of information within the network. In addition, in the event of significant congestion, equipment located on the network can destroy data in the event that they are unable to transmit it. These phenomena therefore induce latency, that is, the information transport time increases, as well as the packet loss. The remote control of a machine such as a drone requires a very low latency (we consider that beyond 200 milliseconds, the system would become uncomfortable with the use) as well as a quality video retransmission . As far as video retransmission is concerned, it is necessary, for a comfortable use, to have a very variable number of images per second. Thus, the phenomenon of congestion must at all costs be avoided. It is therefore necessary to periodically measure the capacity of the network link, that is to say the bit rate at which information can be transmitted without causing congestion, and to adapt data transmissions to this constraint. flow through a flow control mechanism.
    [0004] The device according to the present invention comprises, within the system on board the drone 1, as shown in FIG. 2, a camera 11 as well as video encoding means 12. A typical example of a video codec used is the H format. .264 described by ISO / IEC 14496-10. According to the embodiments, a different format may be used such as H.262, H.263, H.264, H.265, VP6, VP7, VP8, VP9 or other formats. The role of this encoding is to transport the image in a format using less bandwidth than a raw video stream. It is possible at any time to vary the parameters of the video encoder 12 such as the definition of the requested image (size in pixels), the number of images per second, or the bitrate, that is to say say the bit rate of the video stream at the output of the encoder. It is also possible to vary other parameters specific to the encoding format used.
    [0005] In this device, the camera 11 thus provides a video stream to the encoder 12), which can be hardware (electronic chip) or consists of a software block in a larger set. This encoder 12 provides an encoded video stream to the control system 13, which will be in charge of making this stream available on the Internet network. The Internet connectivity of the control system 13 is obtained by the use of a cellular modem 17 capable of providing an Internet connection using the 2G, 3G, 3G +, H +, 4G, LTE, LTE-Advanced mobile telecommunications networks. , 5G, WiMAX or others. The video stream is thus transmitted over the Internet using different streaming protocols. These protocols can be used nested, depending on the 10 layers of the OSI model. It is therefore possible to use, for example, the UDP or TCP protocols for the lower level layers. For higher-level layers, the current state of the art provides several protocols adapted to the transmission of video streams. Examples include Real-Time Transport Protocol (RTP), Real-Time Streaming Protocol (RTSP), HTTP Live Streaming (HLS), Real-Time Messaging Protocol (RTMP), MPEG-DASH (Dynamic). Adaptive Streaming over HTTP), Microsoft HTTP Smooth Streaming (HSS), or any other OSI model application layer stream transmission protocol. This stream once transmitted to the operator station 5 via the Internet network 4 by means of these protocols is interpreted and decoded 18 in order to be made available to the operator 20 in the Human Machine Interface 21. The problem network congestion is solved by the use of a means of adapting the video encoding according to the capacity of the network, shown in FIG. 4. A network management software system 22 on the embedded system on the network. the drone 1 transmits at fixed intervals, fixed or variable according to certain conditions, 25 packets including statistics on the flows generated on board the drone, in particular the video stream 7 or the data stream of the flight 6. These packets also contain statistics on the use of the network, calculated by the network management software module 22 from similar packets sent this time by the station of the ground operator 5, and more particularly by the module The two software modules 20 and 22 interact to calculate upstream or downstream network utilization statistics 8. These statistics include, for example, the RTT data. (Round-Trip delay Time), ie the travel time of a packet on the network, or the number of packets and / or bytes transmitted, the jitter, that is to say say the variation in latency, called 35 jitter in English. Moreover, these modules 20 and 22 allow the calculation of the number of 3033470 8 lost packet (packet loss). The current state of the art presents different technologies to deduce from the sending of control packets 8 and 10 these different statistics. The present invention mainly uses the Real-Time Control Protocol (RTCP), which can be used in combination with the Real-Time Transport Protocol (RTP), and may, in other embodiments, use any other means. to deduce these statistics. All of these statistical data makes it possible to detect a congestion phenomenon due to an overestimation of the allowable bit rate on the network link. In the case of occurrence of such a phenomenon, the network management module 22 sends to the video encoder 12 new encoding parameters, in the sense of a reduction of the bit rate of the video encoded at the output. of the encoder 12, or even according to the severity of the congestion phenomenon, in the sense of reducing the definition of the image. A feedback loop is thus formed. The analysis of the data provided by the modules 20 and 22 also makes it possible to detect a potential underutilization of the network link. The network link management module 22 then sends the video encoder 12 new encoding parameters in the direction of increasing the bit rate of the encoded video, in order to increase as much as possible the quality of the video. transmitted. In the event that it would be difficult to predict this under-utilization of the network, the bit rate control performed with the video encoder 12 is arbitrarily increased in a given time interval, for example five seconds. The feedback put in place can then adjust the bit rate to a value for which the congestion phenomenon does not appear. This system may, according to an alternative embodiment, be carried to any information flow between the drone 1 and its operator 5. The network link analysis system, set up by the modules 20 and 22, by transmission of control flow 8 and 10, also makes it possible to reserve part of the available bandwidth, so that this reserved portion is used for the transmission of the flight data 6 between the on-board control system 13 and the operator station 5. In practice, the bit rate necessary for the transmission of these flight data is very small (10%) compared to the bit rate required for transmission of the video stream, of the order of 1 megabit per second. Similarly, the network link analysis module 20 makes it possible to ensure the priority of the transmission of the control or mission commands 9 in front of this of any other data on the network link set up, in particular the packets intended to ensure Flow control 10. One of the problems of such a system is the great variability in the complexities of the computer network topologies encountered at different access points to the Internet network. The complexity of the computer networks may be such that establishing a peer-to-peer connection between the drone 1 and the operator station 5 may be impossible. This is particularly the case when the operators providing access to the Internet network via 2G, 3G, 3G +, H +, 4G, LTE, LTE-5 Advanced, 5G, WiMAX infrastructures use devices of the "type" type. -feu "or" Network Adress Translation ". These devices are widely used in routers distributed at different points of the networks and restrict the accessibility or visibility of one endpoint of a network (peer) by another peer. The present invention solves the problem of establishing and maintaining the connection through different computer network topologies using so-called "NAT traversal" techniques. These techniques are implemented within the network link analysis modules 20 and 22 and are based on the use of network protocols such as ICE, Interactive Connectivity Establishment, RFC 5245. These protocols can themselves call on other protocols such as STUN, Traversal Utilities for NAT Session, RFC 5389, for Network Topology Detection, or TURN, Traversal Using Relays around NAT, RFC 5766 and 6156, to bypass NATs by intermediary of a server acting as relay. Many other protocols can also be used to solve these problems and the state of the art in this domain is intended to evolve with the progressive deployment of the IPv6 (Internet Protocol version 6) system. The individual and combined use of these different techniques allows the drone 1 and the operator station 5 to be able to establish bidirectional communication regardless of the network topology encountered. Within the embedded system on the drone 1, various sensors 14 allow the analysis of the flight. Among these sensors, one can for example find an inertial center, gyroscopes, accelerometers, magnetometers, GPS location receivers, GNSS or Galileo. These sensors transmit their measurements to the control system 13, and more particularly to a system dedicated to controlling the flight 23. This system, according to the received control or mission orders 9, controls various actuators 15 such as servomotors, relays etc. ; as well as the propulsion means of the drone 16 so that the data coming from the sensors 14 are in accordance with the instruction deduced from the control or mission commands 9. Finally, a human-machine interface 21 allows the operator to have access to all the data needed to make decisions. It can thus drive the drone by sending flight or mission commands 9 via a flight management system 35 having various functions such as the decoding of the flight data 6 issued from the on-board system. the drone 1 and the translation of the intentions of the operator into pilot or mission orders 9 comprehensible by the onboard system on the drone 1. The entire station of the operator 5 may be, according to an alternative embodiment, The Man-Machine Interface 21 is then present on this server, and the access is performed by means of an Internet application. The operator will be able to pilot the drone, manage the missions, have access to the video stream as well as other information flows such as drone flight information 1 directly from a web browser. This alternative embodiment has the important advantage of the portability of the system. Indeed, there is no need to install on the computer of the operator any software ensuring the operation of the station operator 5. This web interface can be used from any device connected to the Internet network 4, whether it is a desktop computer, a laptop, a mobile phone, or a tablet.
    [0006] Of course, the present invention is not limited to the embodiment described and shown. In particular, this memo covers any new combination of means achievable by those skilled in the art on the basis of said memory with the aid of his general knowledge, regardless of the wording of the appended claims. 20
    权利要求:
    Claims (10)
    [0001]
    REVENDICATIONS1. A method for transmitting commands and a video stream between a remote-controlled machine (1) such as a drone and a ground station (5), characterized in that it implements a bidirectional link (3, 4 ) at least partially implementing a cellular telephone communication network (3), said bidirectional link being provided by means of a vehicle-side cellular modem (2, 17) carrying a compressed video stream (7) generated by a camera (11) and video encoding means (12), and at least one of pilot or mission commands (9) and flight data or piloting characteristics of the tele-driven craft (6). .
    [0002]
    2. Method according to claim 1, wherein the machine and the ground station communicate on the bidirectional link via an Internet protocol.
    [0003]
    3. The method of claim 1 or 2, wherein an adaptation of the bit rate of the compressed video stream is obtained by modulating the compression ratio of the video stream captured by the camera.
    [0004]
    4. The method of claim 3, wherein said adaptation is performed by forcing, in the case where a reliable measurement of the available bandwidth margin is impossible, an increase in the bit rate of the compressed video stream or an increase in the definition. compressed video stream, this forced increase being repeated at regular time intervals, so as to bring a set of encoding parameters just below the level at which the transmission of the video stream having these parameters would cause a phenomenon of congestion.
    [0005]
    5. The method of claim 3 or 4, wherein said adaptation is performed while reserving a portion of the available bandwidth, which portion is incompressible and reserved for the routing of critical information such as flight data or characteristics. piloting the remote-controlled machine or conveying critical information such as flight or mission orders (9).
    [0006]
    6. The method of one of claims 1 to 5, further comprising a transmission, in the descending part (machine to station) of the bidirectional link, of flight data or characteristics of the piloting of the machine remote-controlled to constant bit rate.
    [0007]
    7. The method of one of claims 1 to 6, in which the mission or control commands (9) are issued at constant time intervals and on the action of the operator who decides on a change in the parameters of the mission of which the execution is in progress, these parameters being able to concern at least one of the geographical position of the remote-controlled machine 3033470 12, its speed, its destination, its characteristic angles of yaw, pitch and roll, its course , the use of a specific sensor or actuator such as the orientation of a camera.
    [0008]
    The method of one of claims 1 to 7, wherein the video stream is received by the station (5) and decoded (18) via an interface (21), which is constituted by a Internet page consulted by the operator (5) in an internet browser, page allowing the control of the remote-controlled machine and the visualization of parameters specific to its operation such as, without limitation, its geographical position, its speed, its destination, its characteristic angles, or other information from on-board sensors.
    [0009]
    9. The method of one of claims 1 to 8, wherein sensors are embedded on board the remote-controlled machine to perform various missions such as, by way of non-limiting example, imaging missions. in the visible or infrared field, mapping missions in two or three dimensions or various readings of parameters 15 from sensors on board. This method is characterized in that the connectivity of the remote-controlled machine to the Internet network enables it to store this data on a remote server or to provide them in real-time to the operator (5) via an interface (21).
    [0010]
    10. An assembly of a remote-controlled machine such as a drone and a ground station, characterized in that it comprises means for implementing the method according to one of claims 1 to 9 and means for transmitting control and / or statistics packets (8) and (10) for the purpose of analyzing the quality of the bidirectional link in at least one of its directions or in both directions simultaneously, so as to to modulate the video encoding parameters (12) in the direction of reducing the bit rate of the compressed video stream or reducing the definition of the compressed video stream when it is detected that the available bandwidth on the link does not allow the routing of information flows without congestion, packet loss, or excessive latency, and in the sense of increasing the bit rate of the compressed video stream or an increase in the definition of the compressed video stream when the Available bandwidth is not fully utilized and increasing the definition of the compressed video stream is likely to represent an improvement in the user experience.
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    同族专利:
    公开号 | 公开日
    EP3266011A1|2018-01-10|
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    US11115112B2|2021-09-07|
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    US20210399792A1|2021-12-23|
    US20180091217A1|2018-03-29|
    JP6833706B2|2021-02-24|
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    法律状态:
    2016-03-24| PLFP| Fee payment|Year of fee payment: 2 |
    2016-09-09| PLSC| Publication of the preliminary search report|Effective date: 20160909 |
    2017-03-30| PLFP| Fee payment|Year of fee payment: 3 |
    2017-11-24| TP| Transmission of property|Owner name: UAVIA, FR Effective date: 20171019 |
    2018-03-29| PLFP| Fee payment|Year of fee payment: 4 |
    2020-03-31| PLFP| Fee payment|Year of fee payment: 6 |
    2021-03-30| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1551755A|FR3033470B1|2015-03-02|2015-03-02|METHOD FOR TRANSMITTING CONTROLS AND A VIDEO STREAM BETWEEN A TELE-PILOT DEVICE AND A GROUND STATION, AND TOGETHER SUCH A DEVICE AND A SUCH STATION|FR1551755A| FR3033470B1|2015-03-02|2015-03-02|METHOD FOR TRANSMITTING CONTROLS AND A VIDEO STREAM BETWEEN A TELE-PILOT DEVICE AND A GROUND STATION, AND TOGETHER SUCH A DEVICE AND A SUCH STATION|
    ES16715345T| ES2774446T3|2015-03-02|2016-03-02|System for transmitting orders and a video stream between a remotely guided machine such as a drone and a ground station|
    PCT/IB2016/051184| WO2016139604A1|2015-03-02|2016-03-02|System for transmitting commands and a video stream between a remote controlled machine such as a drone and a ground station|
    SG11201707137QA| SG11201707137QA|2015-03-02|2016-03-02|System for transmitting commands and a video stream between a remote controlled machine such as a drone and a ground station|
    SG10202006347XA| SG10202006347XA|2015-03-02|2016-03-02|System for transmitting commands and a video stream between a remote-controlled machine such as a drone and a ground station|
    US15/554,912| US11115112B2|2015-03-02|2016-03-02|System for transmitting commands and a video stream between a remote controlled machine such as a drone and a ground station|
    EP16715345.1A| EP3266011B1|2015-03-02|2016-03-02|System for transmitting commands and a video stream between a remote controlled machine such as a drone and a ground station|
    JP2017546790A| JP6833706B2|2015-03-02|2016-03-02|A system that transmits commands and video streams between a remote control machine such as a drone and a ground station|
    CN201680024138.2A| CN107533792B|2015-03-02|2016-03-02|System for transmitting command and video streams between a remote control machine, such as an unmanned aerial vehicle, and a ground station|
    CA2978523A| CA2978523A1|2015-03-02|2016-03-02|System for transmitting commands and a video stream between a remote-controlled machine such as a drone and a ground station|
    IL254233A| IL254233D0|2015-03-02|2017-08-31|System for transmitting commands and a video stream between a remote controlled machine such as a drone and a ground station|
    US17/466,336| US20210399792A1|2015-03-02|2021-09-03|System For Transmitting Commands And A Video Stream Between A Remote Controlled Machine Such As A Drone And A Ground Station|
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